Vehicle vision system with automatic parking function

ABSTRACT

A vehicle parking system of a vehicle includes a plurality of exterior viewing cameras and a control having an image processor operable to process image data captured by the cameras. The vehicle parking system learns a path of travel from a drop off location to a parking location during a learning maneuver that includes a driver driving the vehicle from the drop off location to the parking location. The control, upon the driver exiting the vehicle when the vehicle is positioned at the drop off location and at least in part responsive to the learned path of travel, controls the vehicle to autonomously drive the vehicle from the drop off location to the parking location. The control, responsive at least in part to image processing by the image processor of image data captured by at least one of the cameras, parks the vehicle at the parking location.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims the filing benefits of U.S. provisionalapplication Ser. No. 62/302,346, filed Mar. 2, 2016, which is herebyincorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.

Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a driver assistance system or visionsystem or imaging system for a vehicle that utilizes one or moreexterior sensors, such as cameras and/or ultrasonic sensors and/or radarsensors or the like to capture data representative of the vehiclesurroundings, and provides an autonomous parking feature that controlsthe vehicle to park the vehicle at a targeted parking location. Thesystem may provide a home parking function, where the system can recordor learn a path for the vehicle to travel from a drop off location (suchas by a front door of a house) to a parking location (such as in agarage of the house). The system can then follow the recorded path topark the vehicle after the driver has exited the vehicle at the drop offlocation. Optionally, the system may provide a valet parking feature,where the system may autonomously control the vehicle to drive thevehicle through a parking structure to a parking space or zone.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vehicle parking system thatincorporates cameras and/or other exterior sensors in accordance withthe present invention;

FIG. 2 is a schematic showing system architecture of the parking systemof the present invention;

FIG. 3 is another schematic showing system architecture of the parkingsystem of the present invention, shown using cameras and imageprocessing;

FIG. 4 is a block diagram of a remote control system for controlling theparking system of the present invention, showing a display screen thatshows the vehicle as it is being automatically or remotely driven inaccordance with the present invention;

FIGS. 5-8 are plan views of a parking scenario for a home parking systemof the present invention;

FIGS. 9-12 are plan views of a parking scenario for a valet parkingsystem of the present invention;

FIG. 13 is a schematic showing system architecture of the parking systemof the present invention; and

FIG. 14 is another schematic showing system architecture of the parkingsystem of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or parking system and/or driver assistsystem and/or object detection system and/or alert system operates tocapture images exterior of the vehicle and may process the capturedimage data to display images and to detect objects at or near thevehicle and in the predicted path of the vehicle, such as to assist adriver of the vehicle in maneuvering the vehicle in a rearwarddirection. The vision system includes an image processor or imageprocessing system that is operable to receive image data from one ormore cameras and provide an output to a display device for displayingimages representative of the captured image data. Optionally, the visionsystem may provide display, such as a rearview display or a top down orbird's eye or surround view display or the like.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes a vehicle parking system 12 that includesat least one exterior facing sensor or imaging sensor or camera, such asa rearward facing imaging sensor or camera 14 a (and the system mayoptionally include multiple exterior facing imaging sensors or cameras,such as a forward facing camera 14 b at the front (or at the windshield)of the vehicle, and a sideward/rearward facing camera 14 c, 14 d atrespective sides of the vehicle), which captures images exterior of thevehicle, with the camera having a lens for focusing images at or onto animaging array or imaging plane or imager of the camera (FIG. 1).Optionally, a forward viewing camera may be disposed at the windshieldof the vehicle and view through the windshield and forward of thevehicle, such as for a machine vision system (such as for traffic signrecognition, headlamp control, pedestrian detection, collisionavoidance, lane marker detection and/or the like). The parking system 12includes a control or electronic control unit (ECU) or processor 18 thatis operable to process image data captured by the camera or cameras andmay detect objects or the like and/or provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). The datatransfer or signal communication from the camera to the ECU may compriseany suitable data or communication link, such as a vehicle network busor the like of the equipped vehicle.

The present invention provides an automatic parking system that will“valet park” a vehicle by driving or controlling the vehicle from alocation where the driver and passenger may be dropped off to a parkingspace a relatively short distance away.

The system includes a plurality of sensors, such as multiple (e.g.,about 12) ultrasonic sensors or the like, and an embedded ECU forultrasonic park assist (UPA) functions and for ultrasonic park spacedetection (UPSD) functions (see FIG. 2). The system may include CarPCusing AppControl for evaluation of UPA and UPSD data for collisiondetection, free space detection and free space detection managerfunctions, and may include CarPC using AppControl for CAN basedEgoMotion functions. The system may include Microautobox for pathplanner and vehicle control functions, and may include Microautobox forall application functions such as reference time generator andhuman-machine interface (HMI) control, and may include Microautobox forcommunication with the vehicle using Flexray or the like. The embeddedECU, CarPC and Microautobox may communicate using a local CAN bus of thevehicle.

Optionally, the vehicle parking system may include or utilize camerasand machine vision algorithm blocks for surround view systems (SVS) orrear vision camera (RVC) systems and ultrasonic autopark, and mayinclude motion estimation, image classifier, contrast+block entropy,line detection, structure from motion and/or object detection (see FIG.3).

Optionally, the parking system of the present invention may use a remotecontrol application running on mobile device (see FIG. 4). The remotecontrol app should allow the user to execute an automated vehiclemaneuver by holding down a button while the driver is outside thevehicle, and to maneuver the vehicle manually forward/backward,left/right (like a remote control car). The system may display thesystem status/obstacle information, distances to objects on the appdisplay and/or images captured by one or more cameras of the vehicle orof the structure where the vehicle is being parked (such as via avehicle-to-infrastructure communication or the like). The remote controlapp may be generic in order to support re-use in various projects suchas an auto-park system and/or a home zone parking system and/or atrailer backup assist system or the like.

Optionally, the parking system of the present invention may be operableas a home zone parking system that allows a user or driver to get out ofthe vehicle (such as at a driveway near the front door of the house),whereby the system will autonomously drive the vehicle from the drop offlocation to the parking location, such as into the garage or the like(see FIGS. 5-8). The system allows for learning or recording of aparking maneuver while the driver is controlling the vehicle (such asresponsive to the driver actuating a user input to commence the learningfunction when the vehicle is at a start or drop off location), forexample driving and parking of a vehicle from the entrance door of ahouse to a designated parking location, and then replaying orre-enacting the parking maneuver without a driver in the vehicle, wherethe parking system controls the vehicle during the maneuver. Forexample, the driver, when the vehicle is positioned at a drop offlocation (such as at or near the door of a house), may actuate thelearning feature of the system (via actuation of a first user input whenthe vehicle is at a start or drop off location), and then the driver maydrive the vehicle from the drop off location to the parking location(such as at or in a garage). After the path of travel (between the dropoff location and the parking location) has been learned by the system,the next time the driver positions the vehicle at the drop off location,the driver may exit the vehicle and actuate the parking feature (such asvia actuation of a second user input of the vehicle when the driver isexiting the vehicle at a start or drop off location or via actuation ofa remote device or key fob or the like when the vehicle is at a start ordrop off location), whereby the control drives the vehicle (followingthe previously learned path) from the drop off location to the parkinglocation.

The system utilizes object detection using cameras, UPA (and radar)sensors during the replay or autonomous parking/driving maneuver inorder to avoid collisions and control the vehicle along the learned path(see FIGS. 6-8). The system allows for dynamic adjustment of therecorded path in order adjust for variation of the vehicle startposition and to reach the exact end position (FIGS. 7 and 8). The systemallows for dynamic adjustment of the recorded path in order for thevehicle to maneuver around temporary objects on the path (see FIG. 8).

The system thus may provide a static record and replay without objectdetection and dynamic path adjustment, such as for a controlledenvironment, with only static objects present (no other movingvehicles), no pedestrians present (FIG. 5). As shown in FIG. 5, thereare no objects present on the path (path is clear), so the system canrecord path data while the driver is maneuvering the vehicle to theparking position, with the vehicle control limited to maneuvering in onedirection (such as only forward maneuvers), with a targeted maximum pathlength of less than 50 m, preferably less than about 30 m, and a maximumspeed of less than about 10 km/h during the recording phase. Duringstatic replay of the path data and maneuvering of vehicle on and alongthe pre-recorded path without using camera/UPA/radar data, the maximumspeed may be further reduced, such as less than about 5 km/h during thereplay.

The system may provide enhanced control of the vehicle by providing forstatic record and replay with object detection and without dynamic pathadjustment (FIG. 6). As shown in FIG. 6, the vehicle is in a controlledenvironment, with only static objects present (no other movingvehicles), no pedestrians present. The system may record path data whilethe driver is maneuvering to the parking position, and may limit themaneuvering to forward and reverse maneuvers (such as 3 sweeps), with amaximum path length of less than 50 m, preferably less than about 30 m,and with a maximum speed of less than about 10 km/h during recording.During controlled parking, the system may perform object detectionduring the maneuver using cameras/UPA/Radar or the like, and will stopthe vehicle if an object is detected in the path of travel of thevehicle. Upon detection of such an object, the system may stop or pausethe vehicle maneuver until the object is removed, and then may resumethe parking maneuver.

Optionally, the system may provide for static record and replay withobject detection and with dynamic path adjustment at the end of the path(FIG. 7). As shown in FIG. 7, the vehicle is in a controlledenvironment, with only static objects present (no other movingvehicles), no pedestrians present. The system may record path data whilethe driver is maneuvering to the parking position, and may limit themaneuvering to forward and reverse maneuvers (such as 3 sweeps), with amaximum path length of less than 50 m, preferably less than about 30 m,and with a maximum speed of less than about 10 km/h during recording.The system records landmarks while the driver is maneuvering the vehicle(for example, the system may determine distances to edges of thedriveway at certain points, or distances to the garage walls at thefinal parking position), such as at or near the end of the path (forexample, the last five meters or thereabouts of the path). The systemmay perform object detection during the maneuver using cameras/UPA/Radarand may stop the vehicle if an object is detected on the path of travelof the vehicle, whereby the system may stop or pause the vehiclemaneuver until the determined object is removed, and then may resume themaneuver. As shown in FIG. 7, the system may dynamically adjust themaneuver at the end of the path in order to park the vehicleconsistently in the same parking position.

Optionally, the system may provide for static record and replay withobject detection and with dynamic path adjustment during the entiremaneuver (FIG. 8). The system may record landmarks in an environment mapwhile the driver is maneuvering the vehicle (such as, for example,determining and recording distances to edges of the driveway at certainpoints, or distances to the garage walls at final parking position). Thesystem may perform object detection during the maneuver usingcameras/UPA/Radar or the like and may stop the vehicle if an object isdetected on the path of travel. If an obstacle is detected, the systemmay determine if the vehicle can maneuver around the object and mayadjust the path if such maneuvering around is possible. The system maystop or pause the maneuver if maneuvering around is not possible, andthen may resume the maneuver after the object is removed from the path.The system may compare the recorded environment map and the currentenvironment map and may modify the path in order to move the vehicle onthe exact same path, and to compensate for differences in the startposition of the vehicle (when the system commences control of thevehicle). The end position shall be the same for every replay.

Optionally, the system of the present invention may provide a valetparking function, where the system may park a vehicle at a publicparking space after the driver has dropped himself or herself off at adesired location. Optionally, the desired location may be remote fromthe parking structure and the system may control the vehicle to follow alearned or predetermined path from the drop off location to an entranceof the parking structure (such as in a similar manner as discussedabove). The system allows for autonomous maneuvering of the vehicle fromany point inside or in the vicinity of a parking structure (such as atan entrance to the parking structure) to a designated parking locationinside the parking structure. The system may include detection ofavailable parking spaces in the vicinity of the designated parkinglocation inside the parking structure using an autopark system thatdetects available parking spaces (such as by utilizing aspects of thesystems described in U.S. Pat. No. 8,874,317 and/or U.S. PublicationNos. US-2017-0015312; US-2015-0158499; US-2015-0251599; US-2015-0124096;US-2015-0344028; US-2014-0375476 and/or US-2013-0116859, which are allhereby incorporated herein by reference in their entireties). The systemprovides autonomous parking of the vehicle in the detected parkingspace.

The system provides predetermined static path maneuvers from a definedpoint inside a parking structure to a desired parking zone inside theparking structure on the same floor level followed by automated parking(see FIGS. 9-12). As shown in FIG. 9, the vehicle is in a controlledenvironment, with only static objects present (no other movingvehicles), no pedestrians present. The system may include detection ofstatic objects (parked vehicles, structural elements, guard rails,posts, and/or the like) using cameras and ultrasonic sensors. The systemmay abort the maneuver if the system determines that the vehicle wouldcollide with any static object, and may provide emergency braking incase the vehicle would collide with any static object. The system mayinclude a parking structure fingerprinting system to locate the vehicleduring maneuver. An autopark system of the vehicle may be activated asthe vehicle approaches the end of the predetermined static path (theparking zone) and searches for open parking spaces. The system stops thevehicle when the autopark system finds a parking space, and vehiclecontrol is turned over to the autopark system, which parks the vehiclein the detected parking space.

Optionally, the system may perform a predetermined static path maneuverfrom a defined point outside the parking structure to a desired parkingzone inside the parking structure on the same floor level, followed byautomated parking (FIG. 10). The system may function in a similar manneras described above, and may use GPS data for maneuvering the vehiclefrom its location outside the parking structure and then may switch toBLUETOOTH/Wi-Fi fingerprinting for vehicle localization and maneuveringinside the parking structure. The path length outside the structure maybe limited to a relatively short distance, such as less than about 100meters, preferably less than about 50 meters or thereabouts.

Optionally, the system may perform a predetermined static path maneuverwith path adjustments from a defined point outside the parking structureto a desired area inside the parking structure on the same floor levelfollowed by automated parking (FIG. 11). The system may function in asimilar manner as described above, and may detect the drivable areawhile the vehicle is moving using machine vision (and radar sensors).The valet parking system detects objects along the drivable area usingultrasonic sensors and detects lines using line detection algorithms.All of the detected and determined information is entered into anenvironment map, which is used to adjust or fine tune the predeterminedvehicle path in order to maneuver the vehicle centered on the lane, witha constant distance from limits at the right vehicle side.

Optionally, the system may perform a planned path maneuver with pathadjustments from a defined point outside the parking structure to adesired area inside the parking structure on the same floor levelfollowed by automated parking (FIG. 12). The system defines a layout ofthe parking structure (parking structure map), and the “smart parkingstructure” defines the area with free parking spaces (parking zone). Thevalet parking system plans a path from the current vehicle positionoutside the parking structure to the parking zone using the parkingstructure map. This system adds the functionality of path planning tomaneuver the vehicle to the parking zone, but the rest of thefunctionality is similar to that discussed above. Optionally, forexample, the system may learn a path from a common drop off location toa location inside a parking structure (such as described above) andthen, when the vehicle is autonomously positioned at the location insidethe parking structure, the system switches from following the learnedpath to being responsive to the parking structure layout/zones.

For applications where the system parks the vehicle within a parkingstructure, the system may utilize an indoor positioning system forunderground (or not outside) parking structures. The system may utilizeabsolute positioning via Bluetooth LE or WLAN or the like and relativepositioning with vehicle sensors and optionally a navigation map. Theposition fingerprinting system or function determines position of thevehicle by comparing the measured signal patterns with previouslymeasured signal patterns in reference points. Optionally, and desirably,the parking garage may have WLAN access points and/or 60 Bluetoothaccess points and a plurality of fingerprints, whereby the system candetermine the vehicle's position within the garage via processing ofsignals from the access points. The system may combine this informationwith data captured by vehicle sensors (and processed by a vehicle-basedprocessor) to enhance the determination of the position of the vehicle.The system may use CAN data and Kalman Filtering and/or ParticleFiltering to enhance the position or location determination to enhancethe vehicle's controlled path of travel when the system is autonomouslycontrolling and parking the vehicle. Optionally, the system may extractmap information for further enhancement.

As shown in FIG. 13, the system may be adaptable to park a vehiclepulling a trailer, such as by utilizing various trailer angle detectionsystems and trailer assist systems of the types described in U.S. Pat.No. 9,085,261 and/or U.S. Publication Nos. US-2017-0050672;US-2015-0002670; US-2014-0160276; US-2012-0265416; US-2014-0085472and/or US-2015-0217693, which are hereby incorporated herein byreference in their entireties.

Optionally, the system may comprise simplified system architecture asshown in FIG. 14. Additional signals/data flows may be required, and thesystem may utilize a sensor fusion map generation in CarPC or the like,and path planning in Microautobox (MAB) or the like.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise animage processing chip selected from the EyeQ family of image processingchips available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect vehicles and/or other objects.Responsive to such image processing, and when an object or other vehicleis detected, the system may generate an alert to the driver of thevehicle and/or may generate an overlay at the displayed image tohighlight or enhance display of the detected object or vehicle, in orderto enhance the driver's awareness of the detected object or vehicle orhazardous condition during a driving maneuver of the equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641;9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401;9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169;8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or U.S. Publication Nos.US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658;US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772;US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012;US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354;US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009;US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291;US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426;US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646;US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907;US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869;US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099;US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO/2010/144900; WO 2013/043661 and/or WO 2013/081985,and/or U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

The system may also communicate with other systems, such as via avehicle-to-vehicle communication system or a vehicle-to-infrastructurecommunication system or the like. Such car2car or vehicle to vehicle(V2V) and vehicle-to-infrastructure (car2X or V2X or V2I or 4G or 5G)technology provides for communication between vehicles and/orinfrastructure based on information provided by one or more vehiclesand/or information provided by a remote server or the like. Such vehiclecommunication systems may utilize aspects of the systems described inU.S. Pat. Nos. 6,690,268; 6,693,517 and/or 7,580,795, and/or U.S.Publication Nos. US-2014-0375476; US-2014-0218529; US-2013-0222592;US-2012-0218412; US-2012-0062743; US-2015-0251599; US-2015-0158499;US-2015-0124096; US-2015-0352953; US-2016-0036917 and/orUS-2016-0210853, which are hereby incorporated herein by reference intheir entireties.

The system may utilize aspects of the parking assist systems describedin U.S. Pat. No. 8,874,317 and/or U.S. Publication Nos. US-2017-0050672;US-2017-0017848; US-2017-0015312 and/or US-2015-0344028, and/or U.S.provisional applications, Ser. No. 62/335,248, filed May 12, 2016,and/or Ser. No. 62/330,558, filed May 2, 2016, which are herebyincorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device, such as by utilizing aspects of the video displaysystems described in U.S. Pat. Nos. 5,530,240; 6,329,925; 7,855,755;7,626,749; 7,581,859; 7,446,650; 7,338,177; 7,274,501; 7,255,451;7,195,381; 7,184,190; 5,668,663; 5,724,187; 6,690,268; 7,370,983;7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551;5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851; 5,708,410;5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508; 6,222,460;6,513,252 and/or 6,642,851, and/or U.S. Publication Nos.US-2012-0162427; US-2006-0050018 and/or US-2006-0061008, which are allhereby incorporated herein by reference in their entireties. Optionally,the vision system (utilizing the forward facing camera and a rearwardfacing camera and other cameras disposed at the vehicle with exteriorfields of view) may be part of or may provide a display of a top-downview or bird's-eye view system of the vehicle or a surround view at thevehicle, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2010/099416; WO 2011/028686; WO2012/075250; WO 2013/019795; WO 2012/075250; WO 2012/145822; WO2013/081985; WO 2013/086249 and/or WO 2013/109869, and/or U.S.Publication No. US-2012-0162427, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicle parking system for a vehicle, said vehicle parking systemcomprising: a plurality of exterior viewing cameras disposed at avehicle, each camera of said plurality of exterior viewing camerashaving a respective field of view exterior of the vehicle; a controlcomprising an image processor operable to process image data captured bysaid cameras; wherein said vehicle parking system learns a path oftravel from a drop off location to a parking location during a learningmaneuver that comprises a driver driving the vehicle from the drop offlocation to the parking location; and wherein said control, upon thedriver exiting the vehicle when the vehicle is positioned at the dropoff location and at least in part responsive to the learned path oftravel, controls the vehicle to autonomously drive the vehicle from thedrop off location to the parking location, and wherein said control,responsive at least in part to image processing by said image processorof image data captured by at least one of said cameras, parks thevehicle at the parking location.
 2. The vehicle parking system of claim1, wherein said vehicle parking system learns the path of travel fromthe drop off location to the parking location responsive to a user inputthat, when actuated by a user when the vehicle is at the drop offlocation, actuates a learning function of said vehicle parking system.3. The vehicle parking system of claim 1, wherein said control, aftersaid vehicle parking system learns the path of travel and responsive toactuation of a user input when the vehicle is at the drop off location,autonomously drives the vehicle from the drop off location to theparking location.
 4. The vehicle parking system of claim 1, wherein,responsive at least in part to processing by said image processor ofcaptured image data while said control autonomously drives the vehiclefrom the drop off location to the parking location, said vehicle parkingsystem determines the presence of an object in the path of travel and,responsive to determination of the object, said control adjusts steeringor braking of the vehicle as said control autonomously drives thevehicle along the learned path of travel.
 5. The vehicle parking systemof claim 1, wherein, responsive to a determination of a variation in thelocation of the vehicle along the learned path of travel, said controladjusts steering or braking of the vehicle as the vehicle isautonomously driven towards the parking location.
 6. The vehicle parkingsystem of claim 5, wherein said control determines the variation viaimage processing by said image processor of captured image data.
 7. Thevehicle parking system of claim 1, wherein the parking location is at anentrance of a parking structure and wherein, after the vehicle isautonomously driven to the parking location at the parking structure,said control parks the vehicle at a parking space of the parkingstructure responsive at least in part to signals from beacons at theparking structure.
 8. The vehicle parking system of claim 7, wherein,responsive at least in part to signals from beacons, said vehicleparking system determines the current location of the vehicle at theparking structure.
 9. The vehicle parking system of claim 8, whereinsaid control autonomously drives the vehicle from the parking locationat the parking structure to a selected parking space of the parkingstructure responsive at least in part to the determined current locationof the vehicle at the parking structure.
 10. The vehicle parking systemof claim 9, wherein said vehicle parking system is operable todetermine, at least in part via image processing by said image processorof image data captured by at least some of said cameras, the presence ofan object in the path of travel of the vehicle and, responsive todetermination of the object, said control adjusts steering or braking ofthe vehicle as said control autonomously drives the vehicle toward theselected parking space of the parking structure.
 11. The vehicle parkingsystem of claim 1, wherein said vehicle parking system is operable atleast in part responsive to a remote control device, whereby a usercontrols steering and braking of the vehicle via the remote controldevice remote from the vehicle.
 12. The vehicle parking system of claim1, wherein said control controls the vehicle to autonomously drive thevehicle from the drop off location to the parking location responsive atleast in part to image processing by said image processor of image datacaptured by at least some of said cameras.
 13. The vehicle parkingsystem of claim 1, wherein said control controls the vehicle toautonomously drive the vehicle from the drop off location to the parkinglocation responsive at least in part to a plurality of non-imagingsensors of the vehicle.
 14. A vehicle parking system for a vehicle, saidvehicle parking system comprising: a plurality of exterior viewingcameras disposed at a vehicle, each camera of said plurality of exteriorviewing cameras having a respective field of view exterior of thevehicle; a control comprising an image processor operable to processimage data captured by said cameras; wherein, responsive at least inpart to actuation of a first user input, said vehicle parking systemlearns a path of travel from a drop off location to a parking locationduring a learning maneuver that comprises a driver, after actuating thefirst user input, driving the vehicle from the drop off location to theparking location; and wherein said control, responsive to the driveractuating a second user input when the vehicle is positioned at the dropoff location, controls the vehicle to follow the learned path of travelto autonomously drive the vehicle from the drop off location to theparking location, and wherein said control, responsive at least in partto image processing by said image processor of image data captured by atleast one of said cameras, parks the vehicle at the parking location.15. The vehicle parking system of claim 14, wherein, responsive at leastin part to processing by said image processor of captured image datawhile said control autonomously drives the vehicle from the drop offlocation to the parking location, said vehicle parking system determinesthe presence of an object in the path of travel and, responsive todetermination of the object, said control adjusts steering or braking ofthe vehicle as said control autonomously drives the vehicle along thelearned path of travel.
 16. The vehicle parking system of claim 14,wherein the parking location is at an entrance of a parking structureand wherein, after the vehicle is autonomously driven to the parkinglocation at the parking structure, said control parks the vehicle at aparking space of the parking structure responsive at least in part tosignals from a parking system of the parking structure.
 17. The vehicleparking system of claim 14, wherein said control controls the vehicle toautonomously drive the vehicle from the drop off location to the parkinglocation responsive at least in part to (i) image processing by saidimage processor of image data captured by at least some of said camerasand (ii) a plurality of non-imaging sensors of the vehicle.
 18. Avehicle parking system for a vehicle, said vehicle parking systemcomprising: a plurality of exterior viewing cameras disposed at avehicle, each camera of said plurality of exterior viewing camerashaving a respective field of view exterior of the vehicle; a controlcomprising an image processor operable to process image data captured bysaid cameras; wherein said vehicle parking system learns a path oftravel from a drop off location to a parking structure during a learningmaneuver that comprises a driver driving the vehicle from the drop offlocation to the parking structure; and wherein said control, upon thedriver exiting the vehicle when the vehicle is positioned at the dropoff location and at least in part responsive to the learned path oftravel, controls the vehicle to autonomously drive the vehicle from thedrop off location to the parking structure; wherein, after the vehicleis autonomously driven to the parking structure, said control parks thevehicle at a parking space of the parking structure responsive at leastin part to signals from a parking system of the parking structure; andwherein, responsive at least in part to signals from the parking systemof the parking structure, said vehicle parking system determines thecurrent location of the vehicle at the parking structure and saidcontrol autonomously drives the vehicle to the parking space of theparking structure responsive at least in part to the determined currentlocation of the vehicle at the parking structure.
 19. The vehicleparking system of claim 18, wherein said vehicle parking system isoperable to determine, at least in part via image processing by saidimage processor of image data captured by at least some of said cameras,the presence of an object in the path of travel of the vehicle and,responsive to determination of the object, said control adjusts steeringor braking of the vehicle as said control autonomously drives thevehicle toward the selected parking space of the parking structure. 20.The vehicle parking system of claim 18, wherein said control controlsthe vehicle to autonomously drive the vehicle from the drop off locationto the parking structure responsive at least in part to (i) imageprocessing by said image processor of image data captured by at leastsome of said cameras and (ii) a plurality of non-imaging sensors of thevehicle.